Obtaining manipulators kinematic models from its formalised description; Control and Communications (SIBCON)

Obtaining manipulators kinematic models from its formalised description; Control and Communications (SIBCON)

Detaylı Bibliyografya
Parent link:	Control and Communications (SIBCON).— 2015.— [4 p.]
Yazar:	Yakovlev A. S. Aleksandr Sergeevich
Müşterek Yazar:	Национальный исследовательский Томский политехнический университет (ТПУ) Институт кибернетики (ИК) Кафедра интегрированных компьютерных систем управления (ИКСУ)
Diğer Yazarlar:	Malishenko (Malyshenko) A. M. Alexanedr Maximovich
Özet:	Title screen The article provides an original method of formalised description of manipulator kinematic chains (MKC) as the basis for combining the whole complex of information on MKC required for the derivation of kinematic equations for the manipulator being described. Mathematical models of kinematics are an indispensable tool when designing robotic manipulator (RM) and robotic systems based on them. At the same time, as a rule, it is connected with a great number of geometrical descriptions and algebraic transformations requiring a significant labor input and potentially causing errors conditioned by human factor. The article provides examples of using computer programme, developed and officially registered, which automatically derives manipulator kinematic equations for commercial industrial robot. Режим доступа: по договору с организацией-держателем ресурса
Dil:	İngilizce
Baskı/Yayın Bilgisi:	2015
Konular:	электронный ресурс труды учёных ТПУ formalised description manipulator joints links kinematic chain
Online Erişim:	http://dx.doi.org/10.1109/SIBCON.2015.7147297
Materyal Türü:	Elektronik Kitap Bölümü
KOHA link:	https://koha.lib.tpu.ru/cgi-bin/koha/opac-detail.pl?biblionumber=644016

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